Energy Conversion and Management 52 (2011) 675–686

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Energy Conversion and Management

journal homepage: www.elsevier.com/locate/enconman

Speed estimation of vector controlled squirrel cage asynchronous motor

with artificial neural networks
Yuksel Oguz *, Mehmet Dede
Department of Electrical Education, Faculty of Technical Education, Afyon Kocatepe University, Afyonkarahisar, Turkey

a r t i c l e i n f o a b s t r a c t

Article history: In this paper, the artificial neural networks as a sensorless speed estimator in indirect vector controlled
Received 5 May 2009 squirrel cage asynchronous motor control are defined. High dynamic performance power semi conduc-
Received in revised form 17 December 2009 tors obtainable from direct current motors can also be obtained from asynchronous motor through devel-
Accepted 30 July 2010
opments in digital signal processors (DSP) and control techniques. With using of field diverting control in
Available online 21 August 2010
asynchronous motors, the flux and moment can be controlled independently. The process of estimating
the speed information required in control of vector controlled asynchronous motor without sensors has
Keywords:
been obtained with artificial neural networks (ANN) in this study. By examining the data obtained from
Vector control
Asynchronous motor
the experimental study concluded on the DSP application circuit, the validity and high performance of the
Speed estimation ANN speed estimator on real-time speed estimation has been demonstrated.
Artificial neural networks Ó 2010 Elsevier Ltd. All rights reserved.

1. Introduction In recent years, it is possible to find a number of works that deal

AC motors have been used as the workhorse in industry appli-
cations due to their simple construction, high robustness, reliabil-
ity, low price and high efficiency for many years. AC motor drives
have been widely used in many of industrial and process applica-
tions requiring high performances. The vector-control technique,
which is based on the field orientation principle, has been widely
used in industry for high-performance control of AC motor drives
[1,2]. In the industrial applications, different vectorial control
methods are being used. Conventional vector control methods re-
quire motor speed as a feedback signal. Transducers such as
shaft-mounted tachogenerators, resolvers, or digital shaft position
encoders are used to obtain the real-speed information. The vector-
control technique is easy to implement and independent of ma-
chine operation conditions. The basic idea of the field-oriented
control (FOC) algorithm is to decompose a stator current into flux
and torque producing components. Both components can be con-
trolled separately after decomposition. The structure of the motor
controller is then as simple as that for a separately excited DC mo-
tor. [3,4]. The aim of vector control is to implement control
schemes that produce high dynamic performance and are similar
to those used to control DC machines. The control performance
of the AC motor drives depends on mechanical parameter varia-
tions, external torque disturbances, resistance changes, measure-
ment noise, frictional variations, and system uncertainty for
improper field orientation in transient state [5–8].
* Corresponding author.
E-mail address: yukseloguz@aku.edu.tr (Y. Oguz).
with both sensorless direct and indirect vector control methods for
induction motors (IMs). These methods could be developed with
reference to the rotor flux, stator flux or air–gap flux; however,
the rotor oriented control allows the independent control of flux
and torque [9]. Using vector control, it is possible to achieve the
speed and torque control of IMs both in the transient and steady-
state. For the indirect vector control of IMs, accurate knowledge
of the slip frequency is required in addition to the rotor speed.
On the other hand, the direct vector control of IMs requires infor-
mation on the amplitude and position of the flux with reference to
the stationary stator axis, with the addition of the rotor angular
speed for speed control [9,10].
The motor speed is measured by using taco generator on enco-
der. The flux of AC motors can be directly measured by using flux
bobbins and flux sensors, even if it is difficult. These flux and speed
sensors cause decrease in mechanical durability, increase in cost,
noise and decrease in system security [11]. Additionally, in very
high speed and forceful applications, placement of such sensors
is difficult. On account of these reasons, researches in induction
motor drives have been focused on the elimination of speed sensor
at the motor shaft without deteriorating the dynamic performance
of the drive control system.
Many speed-sensorless control methods for IMs have been
developed [12–19]. Speed-estimation techniques based on the
standard smooth-air–gap induction machine model hence cannot
work at zero electrical frequency. For this problem solution, at-
tempts have been made to estimate speed by injecting high-
frequency ‘‘carrier” signals into the stator currents or voltages
[20], but these schemes are based on either second-order effects

0196-8904/$ - see front matter Ó 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.enconman.2010.07.046
676 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686
or a specially modified rotor structure. The speed-estimation tech-
niques based on injected carrier signals and the fundamental
smooth-air–gap induction machine model second-order effects or
a specially modified rotor structure have been presented in
[13,21,22]. Various control algorithms for the elimination of the
speed sensor have been proposed: algorithms using state equa-
tions [23], model reference adaptive systems [24], Luenberger- or
Kalman-filter observers [25], saliency effects [26], sliding-mode
controls [27], artificial intelligence [28,29], sensorless vector con-
trol [30], direct controls of torque and flux [31], nonlinear inverter
model and parameter identification [32]. These algorithms are
mainly based on the flux and speed estimations. which are ob-
tained from the terminal electrical quantities, and they are compli-
cated and have difficulties in the speed estimation. The proposed
sensorless vector controlled scheme cannot require speed estima-
tions, and directly uses stator current and voltage.
The speed can be estimated by using space vector angular fluc-
tuation (SVAF) signal for inverter-driven induction motor in Ref.
[33]. This speed estimation algorithm can be used to estimate
the motor speed in real time without a speed sensor. This algo-
rithm needs two stator current signals and employs DSP tech-
niques to filter and manipulate the speed-related harmonics. In
the sensorless speed control of induction motors with direct field
orientation, the rotor flux and speed information are dependent
on the observers. However, the exact values of the parameters that
construct the observers are difficult to measure and changeable
with respect to the operating conditions. The adaptive sliding-
mode flux and speed observer is improved to make flux and speed
estimation according to parameter variations. The effects of
parameter deviations on the rotor flux observer can be reduced
by the interaction of the current sliding-mode observers [27].
Ref. [34], presents a novel unit to estimate the speed and the rotor
resistance for induction motor drives. This unit is based on a new
Adaptive Linear Neuron (ADALINE) structure, which is suitable
for single output systems only [34]. In Ref. [7], a recursive least-
squares estimator and Kalman estimators are developed to esti-
mate parameters, flux, and speed for vector-controlled induction
motor drives. The recursive least-squares estimator is based on
the continuous time induction motor model in a stationary two-
axes reference frame. Estimation errors of this developed method
lie below a 6% value. In Ref. [10], a speed-sensorless indirect
field-oriented control for induction motors based on high-gain
speed estimation is designed. For this purpose, a new high-gain
speed estimator is realized on basis of the torque current regula-
tion error. This method has the achievable dynamic performances
of the speed sensorless controller for induction motors.
The artificial neural networks (ANN) attract more attention in
control of nonlinear systems like in estimation of speed. ANNs have
been used in some power electronic applications, such as inverter
current regulation [35], DC motor control [36], flux estimation
[37], speed estimation [38] and observer-based control of induction
machines [39]. Studies on ANN are directed to two main fields; to de-
velop new models and theories related to functions of human brain
and apply the theories to real problems in the world. Though there is
a mutual correlation between these two research fields, application
of ANN in solution of problems of which solution are difficult with
conventional methods and are uneconomical is very important.
In this study, the process of estimating the rotor speed informa-
tion required in control of vector controlled asynchronous motor
without sensors has been obtained with artificial neural networks
(ANN). First, measurements of q-axis current (Iq) – rotor speed and
q-axis voltage (Vq) – rotor speed are made for the rotor speed esti-
mation. Then the ANN the rotor speed estimator is utilized to esti-
mate the rotor speed. With data obtained from the study made on
the DSP application circuit, performance of the speed estimator has
been examined. The experimental results show a fast response and
accurate performance of the proposed method in estimation the
rotor speed for vector controlled squirrel cage asynchronous
motor.
2. Vector control of field-oriented squirrel cage asynchronous
motor
Squirrel cage asynchronous motors are simple, durable, mainte-
nance free and the cheapest motors in all powers. Besides, disad-
vantages such the electrical and mechanical noise caused by
commutator brush system in direct current motors, continuous
maintenance obligation and not to be able to work in explosive
mediums do not exist in asynchronous motors. For this reason,
vector controlled asynchronous motors will make using of direct
current motors in sensitive servo control applications unnecessary
in the future by means of fast developments in microelectronic
field. Even in applications that do not require high dynamic perfor-
mance, it will be preferred to conventional methods with regard to
reliability and energy saving [40].
The vector control method was firstly applied by Blaschke and
many researchers from various countries like Leonhard and Bose
contributed in development of that method. There are mainly four
types of vector control methods depending on options of superpo-
sition of reference axis on magnetization flux, rotor flux, stator flux
or rotor during decomposition of stator current to its moment and
flux components [40].
Besides, direct and indirect control methods are defined accord-
ing to obtaining style of unit vectors used in transformations. The
main problems experienced in application of such methods are:
flux measures not sensitive enough, control system just depended
on motor parameters and deterioration of decoupling feature of
flux components [41].
Because of the magnetic coupling between the stator and rotor
phases of three-phase asynchronous motor, modeling of its dy-
namic behavior in the three-axis system is possible with variable
coefficient differential equations that change in time and a very
complex model structure appears. For this reason, dynamic behav-
ior of an asynchronous motor fed by a balanced three-phase
frequency converter is modeled in a two-axis system consists of
d–q axes [1]. In that system, parameters that change in time are
eliminated and all the parameters and variables are defined on
orthogonal d and q axes decoupling from each other.
The dynamic model of the machine can be defined in constant
or rotating axis systems. In the constant axis system, ds and qs ref-
erence axes are in constant position by stator. In the rotating axis
system, ds and qs reference axes rotate in rotor speed or synchro-
nous speed. The advantage of the axis system rotating in synchro-
nous speed is that the variables are constant by time [42].
In general, the control is realized according to the following
steps:
– Measuring of motor current and voltage magnitudes.
– By applying the Clarke transformation, ða  bÞ transferring of
these magnitudes to the two-phase system.
– Calculation of rotor flux vector and angular position.
– By using the Park transformation, transferring of stator currents
d to q reference plane.
– Controlling of moment component (isq) and flux component (isd)
individually from stator currents.
– Calculation of reference voltage values of vq and vd.
– By using the revert Clarke transformation, obtaining of va, vb, vc.
– By using the space vector modulation (SVM), production of
three-phase output voltage.
Transformations used during the process in vector control of
three-phase squirrel cage asynchronous motor are given in Fig. 1.
 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686 677

Fig. 1. Vector control transformations in the three-phase system [43].

In voltage equations used to analyze the dynamic performance

of an asynchronous motor, it is seen that some inductances of β
a b
asynchronous motor change in time. In other words, these induc- α
b Clarke
tances are a function of rotor cycle. Coefficients in differential (c) β
equations change in time except when the rotor stops. Complexity
of differential equations can be decreased by changing (defining) iβ
is
variables with other variables. This process in defined as transfor-
mation. In general transformations, the real variables of the a, α
iα
machine can be defined on other reference plane. Generally, this
plane is an arbitrary reference plane. All the known transforma-
tions can be obtained from such general transformations. For this,
it will be sufficient to only know the rotating speed of the reference
plane to be used. In Fig. 2, vectorial presentations related to refer- c
ence planes are given.
Fig. 3. The Clarke transformation.

2.1. The Clarke transformation

2.2. The Park transformation
The space vector, with two axes of (a–b), can be transferred to
This transformation is the most important part of the vector
other reference plane. The ‘‘a” axis and a axis can be shown by
transformation. In reality, this transforms the projection to a
being considered in the same direction in the vector diagram given
two-phase system on d–q rotating reference plane. If we consider
in Fig. 3.
that the d axis is adapted with the rotor axis, the diagram shows
The projection transforming the three-phase system to two-
correlation between two reference planes for the current vector.
dimensional system (a–b) is given in (1) and (2):
(Fig. 4).
ia ¼ i2 ð1Þ Whereas h is the rotor flux position. The flux and moment com-
1 2 ponents of the current vector are expressed with (3) and (4)
ib ¼ pffiffiffi ia þ pffiffiffi ib ð2Þ equations:
3 3

Fig. 2. (a) Three-phase reference plane, (b) two-phase reference plane, and (c) rotating reference plane.
678 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686
β va ¼ vb
iα q pffiffiffi
iq
iβ Park
id
θ 2pffiffiffi
iβ
is id
iq
iα
Fig. 4. The Park transformation.
id ¼ ia cos h þ ib sin h
iq ¼ ia cos h þ ib sin h
These components depend on components in the current vec-
tors (a–b) and rotor flux position. If the correct flux position is
known, on that projection, d–q elements will be constant. Here, a
two coordinated system independent from time of which id (flux
component) and iq (moment component) and direct moment con-
trol is possible and easy has been obtained.
2.3. The inverse Park transformation
After controlling, to transform two voltage vectors (vd, vq) ob-
tained on the d, q plane to three-phase motor voltage, first of all,
we must transform it from two-axis arbitrary reference plane to
two-axis constant reference plane (va, vb). For this process, firstly
the reverse Park transformation (5) and (6) is used (Fig. 5).
V a ¼ V d cos h  V q sin h
V b ¼ V d sin h þ V q cos h
2.4. The inverse Clarke transformation
The next step is the transformation from two-axis constant ref-
erence plane (va, vb) to three-phase reference plane (va, vb, vc). For
this process, expressions in the reverse Clarke transformation (7)–
(9) are used. (Fig. 6).
Fig. 5. The inverse Park transformation.
Fig. 6. The inverse Clarke transformation.
ð7Þ
v þ 3v a
vb ¼ b ð8Þ
d v b  3v a
vc ¼ ð9Þ
2
θ
α
3. The vector control methods
The vector control can be applied in two ways; the direct vector
control and indirect vector control. In the direct vector control, po-
sition of the rotor flux is directly measured with sensors. In the
ð3Þ
indirect vector control, the rotor speed and sliding speed is used
ð4Þ and there is no need for a special structure. They can only be cal-
culated by using speed feedback. In vectorial control, choosing of
moment expression of the machine is very important. The stator
current and stator flux or moment expressions created by the rotor
flux will be chosen as moment expressions. In this method, stator
current can be easily obtained and there is only the flux formation
problem. If the flux involved in then moment expression can be
kept constant (stator or rotor flux), moment can only be controlled
linearly with component of stator flux on the q axis. During that
control, the flux must not change just as on the free stimulating di-
rect current machine. This can only be realized through a control to
be realized on the rotor flux. When the moment control is made
through stator by keeping the stator flux constant, as the flux will
be affected from that control, no linear control occurs. When the
rotor flux is kept constant, the correlation between the q axis stator
current and moment is linear. Thus, the stator current components
ð5Þ that control the flux and moment are vertical to each other and can
ð6Þ be controlled independently from each other. There is no magnetic
interaction between them [10,25]. A vector controlled block dia-
gram is given in Fig. 7.
3.1. The direct vector control method
In the direct vector control, the flux is determined with direct
measuring. In the measuring method, the flux sensors placed in
the air gap, flux bobbins placed specially on the stator or observer
models are used. It is disadvantageous if the flux sensors are af-
fected from the heat or are fragile.
3.2. The indirect vector control method
In the direct vector control, in formation of unit vectors, some
difficulties are experienced. In the indirect vector control, the
angular position of the rotor flux vector can be determined by
means of calculation by considering the principle of ids, iqs couples
define only one sliding angular frequency [40]. By using the motor
equations and speed feedback, the effective value of voltage, its fre-
quency and phase related control magnitudes are established.
4. Synchronous reference frame (d–q) dynamic model of
squirrel cage asynchronous motor
The d–q transformation that ensures analyzes of electric ma-
chines on any reference frame and is suggested by R.H Park is de-
fined as in (10)–(12). In Fig. 8, the dynamic model equivalent
circuit of the squirrel cage asynchronous motor on a synchronous
plane is given
2    3
cosðuÞ cos u  23p cos u þ 23p
26     7
Iq d0s ¼ SðuÞIabcs ¼ 4 sinðuÞ sin u  23p sin u þ 23p 5 þ I2bcs
3 1 1 1
2 2 2
ð10Þ
 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686 679

Fig. 7. Block diagram of vector-controlled induction motor [44].

+ - - +

(a)

- + + -

(b)
Fig. 8. Synchronous plane: (a) qe-axis and (b) de-axis dynamic model equivalent circuit.

where d e
v eds ¼ Rs ieds þ w þ xeqs weqs ð14Þ
dt ds
Iq d0s ¼ ½iqs ids i0s T ð11Þ
d e
v eqr ¼ 0 ¼ Rr ieqr þ w þ ðxe  xr Þwedr ð15Þ
Iabcs ¼ ½ias ibs ics T ð12Þ dt qr
d e
u is an angle between iqs and ias. v edr ¼ 0 ¼ Rr iedr þ w  ðxe  xr Þweqr ð16Þ
dt dr
By using the (2.56) equation, the mathematical model of asyn-
where vqs, vds are the stator voltages, vqr, vdr the rotor voltages,
chronous motor on synchronous reference frame is obtained as in
(13)–(16):
wqr, wdr the rotor flux linkages, xe the synchronous speed, xr the
Electrical rotor speed, Ls the stator inductance, Rs the stator resis-
d e tance, Lr the rotor inductance degraded to stator, Rr is the rotor
v eqs ¼ Rs ieqs þ w þ xeds weds ð13Þ
dt qs resistance degraded to stator.
680 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686

Stator in these equations can be written as given in (17)–(19) in cal moment and synchronous speed can be determined as given in
terms of rotor air gap flux linkages current. (21) and (22) by simplifying the above stated equations:
2 3 2 32 ie 3
weqs Ls 0 Lm 0 3PLm e e
6 e 7 6
qs
6 e 7 Te ¼ w i ð21Þ
6 wds 7 6 0 Lm 7 4Lr dr qs
6 7
Ls 0 76 ids 7
6 we 7 ¼ 6 7 e 7
6 ð17Þ
4 qr 5 4 Lm 0 Lr 0 56
4 iqr 5
7
Lm
wedr 0 Lm 0 Lr e xe ¼ xr þ iqs ð22Þ
idr sr  wdr
e e By using the mechanical circuit of motor, the motor speed and
weqm ¼ Lm ðiqs  iqr Þ ð18Þ its position can be determined as given in (23):

e e dxr P dhr
wedm ¼ Lm ðids  idr Þ ð19Þ ¼ ðT e  T L Þ; ¼ xr ð23Þ
dt 2J dt
The electrical moment produced by motor can be obtained on
Transformation from synchronous frame axes to constant frame
synchronous reference frame as shown in (20):
axes and from here, to three-phase voltages can be obtained is gi-
3PLm e e e ven in (24)–(28). Transformations between planes are given vecto-
Te ¼ ðwdr iqs  weqr ids Þ ð20Þ
4Lr rially in Figs. 9 and 10.
As a result of rotor field diverting on the synchronous reference v sqs ¼ v eqs cos he þ v eds sin he ð24Þ
frame, as the qe axis rotor flux linkages is zero (weqr = 0), the electri-
v sds ¼ v eqs sin he þ v eds cos he ð25Þ

v as ¼ v sqs ð26Þ

pffiffiffi
1 s 3 s
v bs ¼  v qs  v ð27Þ
2 2 ds
pffiffiffi
1 3 s
v cs ¼  v sqs þ v ð28Þ
2 2 ds
In variables at the Eq. (25)–(28), ‘‘e” indicates the synchronous
reference frame and ‘‘s” indicates the constant reference frame.

5. Artificial neural networks

ANNs are successfully used in a lot of areas, such as control,

early detection of electrical machine faults, and digital signal pro-
cessing in everyday technology. The memory of a neural network
lies in the weights and biases. Neural networks can be classified
Fig. 9. Transformation between ds–qs and de–qe planes. into three categories according to how the weights and biases

Fig. 10. Ones transformed to as–bs–cs and ds–qs plane.

 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686 681

Table 1
Label information for the asynchronous motor.
Output
Input − + GAMAK 4404354284
w θ 3  MOT TYPE AGM71 2b EFF
Target I.CL F IP 55 B3 S1 CE
V Hz A kW Cos u r/min
D 220 2.3
ANN Y 380 50 1.34 0.55 0.84 2780

Fig. 11. A supervised network.

tions. The dsPIC can be programmed from a computer by means
of the USB interface on that device and data in its memory can
are obtained: fixed-weight, unsupervised and supervised networks
be easily transferred to the computer. In Fig. 13, LED’s, buttons,
[28,29]. In this paper, supervised networks are used. The set-up for
LCD screen and external programming outputs are given.
a supervised network is shown in Fig. 11. In the supervised net-
On the control card, there are two trimpots, LCD screen, LED’s
work, the weights and biases are adaptively trained by a learning
and buttons. Other than these, there are external power source
mechanism, which has been the mainstream of neural model
and communication port outputs. The motor control card and
development. The most popular learning algorithm is known as
power module used in the application are shown in Fig. 14.
back-propagation. The best initial weights and biases for back-
propagation networks are created at random, utilizing the mini-
mum and maximum value of each input. The jth weight-update 6.2. Introduction of the control system software
equation of the ith neuron is given as Eq. (29):
  The program realizing the control is edited and inspected after it
@Em
W ij ðt þ 1Þ ¼ wij ðtÞ þ ð29Þ is entered in C language by means of MPLAB IDE program and loaded
@wij ðtÞ in the microprocessor by MBLAP PM3 programming device via USB
Here g is the learning rate, wij(t + 1) is the new weight, and wij(t) is line. Data saved in the microprocessor by means of MPLAB IDE pro-
the old weight. gram are transferred to the computer medium. The software used in
the application is software belongs to MICROCHIP Company.
In general, the program uses the current and voltage data from
6. Experimental system set-up and the proposed speed
analog inputs and the speed information from encoders as input
estimation method
data. It forms a new PWM by using the vector control algorithm
and sends it to the power module. The program flow diagram is gi-
In this study, it is aimed to estimate the speed information of
ven in Fig. 15.
vector controlled squirrel cage asynchronous motor without using
a sensor by means of ANN. For this purpose, a motor control devel-
opment card by Microchip Company is used. In the following para-
graphs, dsPIC micro processor, control card and a three-phase,
50 Hz, 0.55 kW, 2-pole squirrel cage asynchronous motor (ASM)
used for that purpose will be introduced. The block diagrams of
vector controlled squirrel cage asynchronous motor and system
components are given in Fig. 12.
The label information for the squirrel cage asynchronous motor
used in application is given in Table 1.

6.1. Digital signal processor (DSP) programming and motor control

card

The programming card used in the application is a set devel-

oped by the MPLAB PM3 Microchip Company for dsPIC applica- Fig. 13. MPLAB PM3 programming device.

Computer

Programming Card
(MPLAB PM3)

Control Card ASM

(dsPIC 30F6010) Power Module
3-phase

Fig. 12. Block scheme of the application circuit.

682 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686

6.3. Obtaining of data on vector controlled squirrel cage asynchronous

motor

The vector controlled asynchronous motor in no load position is

Fig. 14. motor control development card.
Measurement of speed (ω) and phase
current (ia,ib,ic)
(ia, ib, ic)
operated in 100 cycle increases starting from speed of 500 r/min to
speed of 1000 r/min. In each operation, the Speed-q-axis current
(Iq) and Speed-q-axis voltage (Vq) data couples are taken. To save
these data in the processor, the commend lines are added in the
software. To start saving, it is obligatory to press any button. While
the system is operating, vector rotates in control mode with 480 r/
min speed. After the button is pressed at any time and the first 500
data are saved, the speed automatically increases at any desired
rate and other 500 data are saved. The sampling time of these data
is 4 ms.
From Speed-Iq and Speed-Vq data obtained from the motor oper-
ated in different speed phases, total 50 data groups are obtained.
By taking means of these Vq and Iq data, four data groups are ob-
tained related to change depending on speed. The Iq and Vq change
during 800 r/min increase of the motor speed and correlation be-
tween these changes are given in Fig. 16.
When means of these data are taken (obtained depending on
the correlation given in Fig. 15), linear graphics are obtained. The
change related to these obtained data is given in Fig. 17.
As it can be understood from the graphics in Fig. 17, there is a
linear correlation between the speed and Vq and Iq parameters. In
this figure, four data groups are obtained. With one group of these
data, ANN is trained and with other group, tests are made. Data
used in training are given in Table 2.
(id, iq) Data used in training are given in Table 2.
The data to be used for ANN tests are taken from the 2nd data
group. Ten data are chosen for the test. These data are given in
Table 3.

Calculation of rotor flux vector angular 7. Modeling of system with artificial neural networks
position
The used ANN model is a multi-layer perceptron model where
more than one layers are used between its input and output layers.
Algorithm of error backward diffusion is used as the training algo-
rithm. The error backward diffusion algorithm is a coded algorithm
that minimizes the error function (of which square is taken) and is
used to train the generalized delta rule.
The training of that ANN model is shown is the flow diagram in
Fig. 18. According to the flow diagram in Fig. 18, the training pro-
gram of ANN is entered in C++ programming language.
Modeling of the system with ANN consists of four phases as
follows:
New transformation angle calculation
1. Obtaining of input and output data of the system.
2. Choosing of ANN structure.
3. Realization of training process.
4. Conformity test of ANN model of the system.

The ANN parameters modeling the system are given below:

(Vq-Vd) (Vα-Vβ )
1. The input number is 2.
2. The output number is 1.
3. The layer number is 1.
4. The cell number in layer is 4.
5. The layer activation function is Sigmoid.
(Vα-Vβ ) (Va, Vb,Vc) 6. Maximum iteration number is 500,000.
7. The learning coefficient is 0.7 .
8. The momentum coefficient is 0.9.

As there is not any definite criterion in choosing of the layer

Fig. 15. Program flow scheme. number in ANN structure and cell number in each layer, the layer
 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686 683

Fig. 16. Momentarily Iq and Vq change depending on speed.

Fig. 17. Changes of averaged: (a) Vq and (b) Iq parameters depending on speed.
684 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686

Table 2
Data used for training of ANN. Determine starting values
of very weights random
Speed (r/min) Vq Iq Speed (r/min) Vq Iq
500 10696.1 1163.13 750 15442.36 1269.61
510 10913.26 1167.74 760 15368.38 1299.24
520 10978.29 1168.72 780 15935.34 1288.33
530 11102.31 1172.81 790 16342.53 1321.67 Apply training set to neurol
550 11615.22 1209.52 810 16714.49 1363.19 networks
560 11829.56 1195.33 820 16889.13 1319.54
570 11779.87 1173.65 830 17029.32 1334.25
590 12237.28 1202.06 840 17059.48 1357.85
610 12707.98 1207.65 850 17292.82 1359.06 Find error from network output
620 13156.5 1218.07 860 17538.94 1306.12 and desired output, and add it to
630 12988.33 1270.22 880 17758.64 1364.38 total error
640 13398.96 1267.22 890 18074.85 1318.5
660 13635.37 1247.71 900 17844.09 1355.26
670 13623.12 1257.44 910 18472.37 1351.47
680 13930.32 1240.82 920 18572.41 1310.43
Update weights with
690 14368.58 1271.96 930 19029.92 1343.77 backpropogation of error
700 14547.13 1266.25 940 18919.34 1364.04
720 14751.32 1263.9 960 19215.21 1371.74
730 14880.76 1310.61 970 19394.23 1350.02
740 15232.35 1303.01 1000 20283.67 1432.19

Is training
set completed?
Table 3
Data used in the ANN test.

Speed (r/min) Vq Iq Speed (r/min) Vq Iq

510 10925.76 1132.77 760 15366.56 1320.98
540 11381.67 1180.65 870 17606.56 1363.98 Is error small Take training set
580 12104.86 1187.31 910 18273.08 1344.23 sufficiently? to beginning
610 12804.96 1261.86 970 19343.09 1355.52
670 13793.27 1263.88 1000 20203.5 1412.27

number and cell numbers are determined by means of trial and er-
ror method. Similarly, the learning and momentum coefficients are
determined depending on the experiences in previous studies. The
input data is normalized to 5. The output is between 0.1 and 0.99.
Change of error between the ANN structure and training process
is given in Fig. 19. As the quadratic error decreases to 0.0009 in
500,000 iteration, it has been decided to cease training.
After the training process with ANN is completed, the data ta-
ken from the 2nd group are tested. The obtained results and real
values are given in Table 4 and Fig. 20.
As it can be seen in Table 4 and Fig. 20, the speed information
estimated with ANN application is close to its real values and they
are correct. As these parameters are used in vector control, there is
no need to use any additional element. By observing the change of
these two data in the software program, the speed is estimated in
correct manner.
8. Experimental results and discussion
In this study, to prove the correctness of the proposed ANN
speed estimator, an experimental set that belongs to vector con-
trolled squirrel cage asynchronous motor drive was used. In the
experimental study, the motor controlled development card used
for dsPIC applications is MPLAB PM3. In Table 1, the label values
of three-phase and 2-polar squirrel cage asynchronous motor used
in the experimental study are given.
The vector control algorithm and the speed estimation algo-
rithm are executed by the motor control board with a DSP chip.
MPLAB PM3 program uses q-axis current (Iq) and q-axis voltage
(Vq) from analog inputs and the real-speed information from qua-
dratic encoder as input data. The real speed measurement is also
made by the DSP. By running in various speed phases, rotor
speed-Iq and rotor speed-Vq of the squirrel cage asynchronous mo-
Fig. 18. The flow diagram of ANN training program entered in C++ language.
tor were taken as given in Table 2. In this study, the speed range of
squirrel cage asynchronous motor was taken at 500–1000 rpm.
After the study, it was determined that the speed information
required for recycling in vector control could be obtained with
ANN speed estimator by using the q-axis current (Iq) and q-axis
voltage (Vq) parameters. In Table 3, the rotor speed, q-axis current
(Iq) and q-axis voltage (Vq) values selected in order to be used in the
ANN test and approximate speed values obtained with the ANN
speed estimator were compared. The variation of error in training
process with ANN is given in Fig. 19. As it was seen that the qua-
dratic error decreased to 0.0009 in 500,000 iteration, the training
made with ANN was ceased. As matter of fact, as it is seen in
Fig. 20, the speed information estimated with the ANN speed esti-
mator are very close to its real values and are correct. As these
parameters were used in vector control, there was no need to
use an additional component. By tracing the change of these two
data in software, correct estimation of speed was realized. Besides,
by only using the data that belong to Iq and Vq parameters, without
using the real rotor speed, the same speed estimation values were
obtained with the ANN speed estimator.
Estimators, observers and spectral analysis methods are fre-
quently used techniques for sensorless speed estimation of induc-
tion motors estimators depend on accurate machine model and
parameter estimation in model reference adaptive system. How-
ever, the induction motors are nonlinear and their parameters vary
with time and operating conditions. Observers and spectral analy-
sis method have a relatively long delay and data processing time
that can limit real-time speed measurement [33,45–48]. As matrix
 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686 685

Fig. 19. Change of error during the training.

Table 4 not a desired situation. The period to reach to desired speed value
Values of motor speed estimated with ANN and its real values. in real speed estimation methods and techniques of induction mo-
The obtained As a speed up equivalent The The real data as a tors is shortened with the ANN speed estimation algorithm real-
results with with ANN achieved data (r/ real speed equivalent (r/ ized in this study.
ANN min) data min)
0.126076 514.64 0.1178 510 9. Conclusions
0.169747 539.18 0.1712 540
0.246175 582.12 0.2424 580
0.321902 624.66 0.2958 610 In this study, a sensorless speed estimation algorithm with ANN
0.403430 670.46 0.4026 670 has been successfully demonstrated for a sensorless indirect vector
0.557564 757.05 0.5628 760 controlled squirrel cage asynchronous motor drive system. Data
0.766499 874.43 0.7586 870
selected for the ANN test was used to evaluate the capabilities of
0.822947 906.15 0.8298 910
0.924769 963.35 0.9366 970 the proposed ANN speed estimator for real-time speed estimation.
0.994801 1002.69 0.99 1000 The performance of ANN speed estimator is found to be excellent
in the wide speed region. Although the estimator performance is
demonstrated for a sensorless vector controlled squirrel cage asyn-
chronous motor drive system, it can also be used to scalar or vector
operations are used intensively in such applications, the time per- control of drive systems. The proposed ANN speed estimator can
iod 15 times of the cycle period of the all vector controlled algo- improve the performance and reliability of squirrel cage asynchro-
rithm is needed. Extension of estimation period and sampling nous motor drives, because it does not require a speed sensor, ex-
times in speed estimation operations of asynchronous motors is tra wiring and detailed machine model.

Fig. 20. Values of motor speed estimated with ANN and real motor speed values.
686 Y. Oguz, M. Dede / Energy Conversion and Management 52 (2011) 675–686

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